GNN position_key and velocity_key needed to be part of the observation_spec
This meant that they could not be used in a squence model where the GNN is not first as they would be accidentally consumed by other models
Now
Now these keys don't need to be in observation_spec.
In fact, it is better that they are not to solve the problem above.
They can be put in the info.
We still support the case of them being in observation_spec for bc-compatibility
The catch
Since now we do not know the shape of these keys (as they are not in the spec) we need to provide it in the model configuration. This is because GNNs need to know the shape of edge_features at init time.
fixes #124
Previously
GNN
position_keyandvelocity_keyneeded to be part of theobservation_specThis meant that they could not be used in a squence model where the GNN is not first as they would be accidentally consumed by other models
Now
Now these keys don't need to be in
observation_spec.In fact, it is better that they are not to solve the problem above.
They can be put in the info.
We still support the case of them being in
observation_specfor bc-compatibilityThe catch
Since now we do not know the shape of these keys (as they are not in the spec) we need to provide it in the model configuration. This is because GNNs need to know the shape of edge_features at init time.